Remote sensor apparatus and method

ABSTRACT

The present invention comprises an arrangement for the remote sensing and recordation of information about a body component. The arrangement includes a stylus held within a support head. The support head has an electrode therein for the detection and recordation of stylus contact with a body component. A plurality of parallelogram linkages articulably support the stylus. The linkages have a first or input end and a second or output end. A motion tracking generator is attached to the output end of linkages. A sensor is arranged to receive and record signals from the tracking generator in a plurality of orthogonal planes, so as to permit the generation and recordation of contours, location and domain of the body component being sensed by the stylus.

This Application claims the benefit of U.S. Provisional Application Ser.No. 60/025,560 filed Sep. 6, 1996. This applications is a divisional ofapplication Ser. No. 08/927,546 filed Sep. 06, 1997, now U.S. Pat. No.6,038,780, issued Mar. 21, 2000.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to a method and a system for sensing andmapping a body component, and more particularly, for mapping dentalstructures.

2. Prior Art

The remote sensing and mapping of remote components is desirable in themedical field, and particularly so in the dental field. This wouldpermit the treatment, replacement, and resurfacing of body elements, ifsuch tracking and sensing were available. Such remote sensing isdesirable in the dental field, for the manufacture of crowns and toothrestoration.

Some devices are shown in the following patents, such as U.S. Pat. No.5,017,139 to Mushabac, entitled “Mechanical support for hand-helddental/medical instrument”; U.S. Pat. No. 5,224,049 to Mushabac entitled“Method, system and mold assembly for use in preparing a dentalprosthesis”; U.S. Pat. No. 5,257,184 to Mushabac, entitled “Method andapparatus with multiple data input stylii for collecting curvilinearcontour data”; U.S. Pat. No. 5,343,391 to Mushabac, entitled “Device forobtaining three dimensional contoured data and for operating on apatient and related method”; U.S. Pat. No. 5,347,454 to Mushabac,entitled “Method, system and mold assembly for use in preparing a dentalrestoration”; U.S. Pat. No. 5,448,472 to Mushabac entitled “Method usingreference indicia on tape attached to mouth surface to obtain a threedimensional contour data”; U.S. Pat. No. 5,545,039 to Mushabac entitled“Method and apparatus for preparing tooth or modifying dentalrestoration”; U.S. Pat. No. 5,562,448 to Mushabac entitled “Method forfacilitating dental diagnosis and treatment”; and U.S. Pat. No.5,569,578 to Mushabac entitled “Method and apparatus for affectingchange in shape of pre-existing object”. Each of the foregoing MucabacPatents are incorporated herein by reference, in their entireties.

It is an object of the present invention, to provide a remote sensingapparatus and method which further improves upon the prior art.

It is yet a further object of the present invention, to provide a remotesensing apparatus which is useful for sensing human body components forthe medical field.

BRIEF SUMMARY OF THE INVENTION

The present invention comprises a method and a system for the remotesensing of a body component by a hand held moveable stylus which permitsthe simultaneous recordation of a plurality of signals to map and trackthe shape, size, and contour of a component, such as a body organ, i.e.,a tooth, bone, or the like. The system includes a stylus, which is anelongated pin pivotably supported along its mid portion, in a head. Thedistal end of the stylus has a first radius. The second end of thestylus is movably supported within a hemispherically shaped electrode. Acompression spring maintains a bias on the stylus, yet permits theproximal end of the stylus to pivot and strike the electrode during aswinging or pivoting motion of the stylus or a longitudinal motion ofthe stylus. When such contact is made, a signal is sent through a propercircuit for recordation as to the time and the location of such contact.

The stylus and head are disposed on the distal end of a freely swingablefirst arm. The first arm is supported on a main shaft. The first arm ispermitted to swing or pivot in any direction or angle because the mainshaft is rotatably supported in a bearing disposed on the distal end ofa holding arm. The holding arm is supported in a bearing on the distalend of a second arm. The second arm is supported by a bearing having avertically disposed axis. The vertically disposed axis holding thesecond arm is always in vertical alignment with the distal end of thestylus. The second arm is connected to an arrangement of parallelogramlinkages, forming a 3-D pantograph. The pantograph is anchored to asupport stand or to ground. One end of the pantograph linkage isattached to a laser beam generator.

The laser beam generator has an output, a proportion of which comprisesa reflected beam and a straight exit beam. The exit beam and thereflected beam are directed towards X, Y, and Z planes of a sensorapparatus. Such sensor apparatus may be seen in the aforementionedpatents, incorporated by reference herein. Such a sensor is similar tothat manufactured by EG&G called an Amorphous Silicon Screen Sensor.

The second arm, connected to the first vertical linkage, comprises oneside of the first parallelogram. The first vertical linkage has an upperbearing and a lower bearing thereattached. An upper first horizontallinkage and a lower first horizontal linkage are attached to upper andlower portions of the first vertical linkage by a bearing which permitsthe upper horizontal linkage and the lower horizontal linkage to move ina vertical plane. A second vertical linkage completes the firstrectangle comprising the pantograph. The second vertical linkage has abearing on its uppermost end, in arrangement with the first horizontallinkage and the lower horizontal linkage. The second vertical linkagealso has an upper and a lower bearing permitting rotation of thatvertical linkage about the vertical axis. A second parallelogramcomprised of a second primary vertical linkage and a second secondaryvertical linkage, each second primary vertical linkage and secondsecondary vertical linkage are connected by parallel upper and lowerlinkages. The first parallelogram and the second parallelogram are eachconnected by a pair of upper and lower linkages, one of which extends toa third vertical linkage for ground support.

The second primary vertical linkage has an upper end onto which a laserbeam generator is mounted. The laser beam generator has a beam reflectorthereon. The laser beam passes partially through the reflector and partof the beam is reflected by the reflector. The axis of rotation of thesecond primary vertical linkage is coaxial with the reflected laserbeam, reflected from the reflector. The reflected laser beam strikes theaforementioned sensor in the plane defined by the XY axes thereof. Theexit beam passing through the reflector strikes the sensor defined bythe ZX axes.

The split laser beam output permits simultaneous tracking by thesensors, of the motion by the stylus. When the stylus is in contact withan object, such occurance and location is recorded by virtue of theelectrode input generated by its contact with the stylus head. Thespherical contact area of the head is twice the radius of the stylus. Byvirtue of the relative sizes of the two parallelagram connected as thepantograph assembly, there is a proportion two to one ratio of motion totracking dimension recorded by the sensor. The location of thedistalmost tip of the stylus is always in axial alignment with the firstvertical link of the first parallelogram, no matter what angle thestylus head is turned, rotated, or swung in, such orientation is alwaysmaintained. The reflected laser beam is always in axial alignment withthe second primary vertical link of the second parallelogram. Thus themultiplication factor between the two parallelagrams in their pantographlinkages permits an accurate tracking of location and data through aproper control circuit connected to the sensors. By the combination ofsignals from the stylus, as to when contact is made with an article orobject and its recordation through the circuit from the electrode in thehead, in conjunction with the signals generated by the laser beam, anaccurate domain may be mapped of a body component or the like.

The invention thus comprises an arrangement for the remote sensing andrecordation of information of a body component, comprising a stylus heldwithin a support head, the support head having an electrode therein forthe detection and recordation of stylus contact with a body component; aplurality of parallelogram linkages articulably supporting the stylus,the linkages having a first or input end and a second or output end; amotion tracking generator attached to the output end of linkages; and asensor arranged to receive and record signals from the trackinggenerator in a plurality of orthogonal planes, so as to permit thegeneration and recordation of contours, location and domain of the bodycomponent being sensed by the stylus. The tracking generator comprises alaser beam generator. The paralellogram linkages includes a firstlinkage having an axis which is in axial alignment with the distal endof the stylus. The parallelogram linkages has an end linkage with anaxis which is in coaxial alignment with the axis of a beam generated bythe laser generator.

The invention includes a method of sensing and recordation of thecontours and location, of a body component using a plurality ofpantograph linkages having a movable stylus an an arm at a first end ofthe linkages and a signal generator at a linkage at a second end of thelinkages, comprising the steps of: moving the stylus about and againstthe body component being sensed; recording the location of the stylusduring touching contact of the stylus with the body component; andgenerating an output signal by the signal generator attached to thesecond end of linkage, to track and permit the recording of the locationof the stylus as the stylus is moved about the body component. Themethod includes the steps of receiving the output signal onto an XYZplane sensor to permit the receipt and recordation of the outputsignals; splitting the output signal onto a plurality of receivingsensors screens to permit separation and identifigation of the signal.

BRIEF DESCRIPTION OF THE DRAWINGS

The objects and advantages of the present invention will become moreapparent when viewed in conjunction with the following drawings, inwhich:

FIG. 1 is a schematically represented isometric view of the sensor andpantograph constructed according to the principles of the presentinvention;

FIG. 2 is a side elevational view of the stylus and head in section, ofthe present invention;

FIG. 3 is a side elevational view, partially in section, of the stylus,main arm and holding arm of the present invention; and

FIG. 4 is a side elevational view of a laser generator arrangement ofthe present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

Referring now to the drawings in detail, and particularly to FIG. 1,there is shown a method and a system for the remote sensing of a bodycomponent by a hand held moveable stylus which permits the simultaneousrecordation of a plurality of signals to map and track the shape, size,and contour of a component “C”, such as a body organ, i.e., a tooth,bone, or the like. The system includes a stylus 10, which is anelongated pin 12 pivotably supported along its mid portion 14, in a head16. The distal end of the stylus 10 has a first radius. The second endof the stylus is movably supported within a hemispherically shapedelectrode 18 in the head 16. A compression spring 20 maintains a bias onthe stylus 10, yet permits the proximal end of the stylus 10 to pivotand strike the electrode 18 during a swinging or pivoting motion of thestylus 10 or a longitudinal motion of the stylus 10. When such contactis made, a signal is sent through a proper circuit, not shown forclarity, for recordation as to the time and the location of suchcontact.

The stylus 10 and head 16 are disposed on the distal end of a freelyswingable first arm 24. The first arm 24 is supported on a main shaft26. The first arm 24 is permitted to swing or pivot in any direction orangle because the main shaft 26 is rotatably supported in a bearing 28disposed on the distal end of a holding arm 30. The holding arm 30 issupported in a bearing 32 on the distal end of a second arm 34. Thesecond arm 34 is supported by a bearing 36 having a vertically disposedaxis “A”. The vertically disposed axis holding the second arm 34 isalways in vertical alignment with the distal (tip) end of the stylus 10.The second arm 34 is connected to an arrangement of parallelogramlinkages 40, forming a 3-D pantograph. The pantograph is anchored to asupport stand 42 or to ground. The rear end 60 of the pantograph linkage40 is attached to a laser beam generator 46, as shown in FIGS. 1 and 4.

The laser beam generator 46 has an output, a proportion of whichcomprises a reflected beam and a straight exit beam. The exit beam andthe reflected beam are directed towards X, Y, and Z planes of a sensorapparatus 50 as shown in FIG. 1. Such sensor apparatus 50 may be alsoseen in the aforementioned patents, incorporated by reference herein.Such a sensor is similar to that manufactured by EG&G called anAmorphous Silicon Screen Sensor.

The second arm 34, connected to the first vertical linkage G, comprisesone side of the first parallelogram ABCG. The first vertical linkage Ghas an upper bearing and a lower bearing thereattached. An upper firsthorizontal linkage A and a lower first horizontal linkage C are attachedto upper and lower portions of the first vertical linkage G by a bearingwhich permits the upper horizontal linkage A and the lower horizontallinkage C to move in a vertical plane. A second vertical linkage Bcompletes the first rectangle ABCG comprising the pantograph. The secondvertical linkage B has a bearing on its uppermost end, in arrangementwith the first horizontal linkage and the lower horizontal linkage. Thesecond vertical linkage B also has an upper and a lower bearingpermitting rotation of that vertical linkage about the vertical axis. Asecond parallelogram AA, BB, CC & DD comprised of a second primaryvertical linkage DD, each second primary vertical linkage and secondsecondary vertical linkage are connected by parallel upper and lowerlinkages. The first parallelogram and the second parallelogram are eachconnected by a pair of upper and lower linkages E, EE and F, FF, one ofwhich extends to a third vertical linkage “S” for ground support.

The second primary vertical linkage DD has an upper end onto which alaser beam generator is mounted as shown in FIG. 4. The laser beamgenerator has a beam reflector 62 thereon. The laser beam “B” passespartially through the reflector and part of the beam B² is reflected bythe reflector. The axis of rotation of the second primary verticallinkage is coaxial with the reflected laser beam, reflected from thereflector. The reflected laser beam strikes the aforementioned sensor inthe plane defined by the XY axes thereof. The exit beam passing throughthe reflector strikes the sensor defined by the ZX axes.

The split laser beam output permits simultaneous tracking by thesensors, of the motion by the stylus. When the stylus is in contact withan object, such occurance and location is recorded by virtue of theelectrode input generated by its contact with the stylus head. Thespherical contact area of the head is twice the radius of the stylus. Byvirtue of the relative sizes of the two parallelagram connected as thepantograph assembly, there is a proportion two to one ratio of motion totracking dimension recorded by the sensor. The location of thedistalmost tip of the stylus is always in axial alignment with the firstvertical link of the first parallelagram, no matter what angle thestylus head is turned, rotated, or swung in, such orientation is alwaysmaintained. The reflected laser beam is always in axial alignment withthe second primary vertical link of the second parallelagram. Thus themultiplication factor between the two parallelagrams in their pantographlinkages permits an accurate tracking of location and data through aproper control circuit connected to the sensors. By the combination ofsignals from the stylus, as to when contact is made with an article orobject and its recordation through the circuit from the electrode in thehead, in conjunction with the signals generated by the laser beam, anaccurate domain may be mapped of a body component or the like.

What is claimed is:
 1. A system for the remote sensing and recordationof a body component comprising: a body-component contactable electrodetip arranged to be movable supported by an articulable frame; a pick-uparranged with said electrode tip to continuously identify the locationof said electrode tip; said articulable frame including a motiontracking generator thereon to monitor said pick-up; and a sensorarranged to receive and transmit signals from said tracking generator ina plurality of orthogogal planes to as to permit the generation andtransmission of signals identifying body characteristics sensed by saidbody-component electrode tip.
 2. The system as recited in claim 1,wherein said frame comprises an arrangement of parallelogram linkages.3. The system as recited in claim 1, wherein said tracking generatorcomprises an optical apparatus.
 4. The system as recited in claim 3,wherein said articulable frame is in alignment with said opticalapparatus.
 5. The system as recited in claim 4, wherein said opticalapparatus is a laser generator.
 6. A method of sensing and transmittingthe condition of a body component using a plurality of articulablelinkages having a movable sensor thereon, said linkages having a signalgenerator arranged therewith, said method including the steps of: movingsaid sensor adjacent the body component being sensed; identifying thecondition of the body component during sensing thereof by said sensor;generating a signal by said signal generator arranged with said linkagesto identify body component parameters; and transmitting said signalgenerated by said signal generator to a recorder.
 7. The method asrecited in claim 6, wherein the component parameter sensed is location,to determine size and body component properties relative thereto.
 8. Themethod as recited in claim 6, wherein said output signal is opticallysensed.